Hello @Alejandro,
Thank you for letting me know your setup details. I have searched other forums and I have found that this is a common issue with Asus AiMesh routers, and it is not necessarily Roon-related.
The following forum has some suggestions for how to configure your routers for better performance when switching between them:
I won’t be able to comment on the specific values or configuration options you will need to use, but these forum posts should give you a good starting point of areas to explore.